It wasn't their fault that Yugo was caught trying to talk with them, he'll say. So of course he doesn't have any hard feelings.

And then at first Yugo is going to be tentative about it since he has no idea when was the last time this dog has experienced human interaction.... but if they seem alright with it he's petting the good boy!

(And for as much as he can get away with it. Belly rubs?)